Design of joint torque sensor and joint structure of a robot arm to minimize crosstalk and torque ripple

In Moon Kim, Hwi Su Kim, Jae-Bok Song

Research output: Chapter in Book/Report/Conference proceedingConference contribution

9 Citations (Scopus)

Abstract

Torque control of a robot arm often requires joint torques which are measured using joint torque sensors. However, a joint torque sensor installed at a robot joint suffers from crosstalk errors and torque ripple. The crosstalk error generated by a moment load induces an offset to the torque sensor output. Furthermore, torque ripple noise generated by a harmonic drive interferes with accurate torque measurement as its amplitude is much higher than electric noise. In this study, novel methods are proposed to reduce crosstalk and torque ripple. The crosstalk is dealt with by specially designing the structure of a robot joint. Torque ripple is reduced by taking an average of two Wheatstone bridges outputs. The performance of the proposed robot joint was verified through various experiments.

Original languageEnglish
Title of host publication2012 9th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2012
Pages404-407
Number of pages4
DOIs
Publication statusPublished - 2012 Dec 1
Event2012 9th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2012 - Daejeon, Korea, Republic of
Duration: 2012 Nov 262012 Nov 29

Other

Other2012 9th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2012
CountryKorea, Republic of
CityDaejeon
Period12/11/2612/11/29

Keywords

  • Crosstalk
  • Joint torque sensor
  • Robot joint
  • Torque ripple

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction

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    Kim, I. M., Kim, H. S., & Song, J-B. (2012). Design of joint torque sensor and joint structure of a robot arm to minimize crosstalk and torque ripple. In 2012 9th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2012 (pp. 404-407). [6463026] https://doi.org/10.1109/URAI.2012.6463026